CN109308801A - A system for assigning priority right of way for urban rail trains - Google Patents
A system for assigning priority right of way for urban rail trains Download PDFInfo
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- CN109308801A CN109308801A CN201810990880.XA CN201810990880A CN109308801A CN 109308801 A CN109308801 A CN 109308801A CN 201810990880 A CN201810990880 A CN 201810990880A CN 109308801 A CN109308801 A CN 109308801A
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- 238000005259 measurement Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000012706 support-vector machine Methods 0.000 claims description 3
- 206010039203 Road traffic accident Diseases 0.000 abstract description 2
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- Aviation & Aerospace Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention relates to a kind of preferential right of way distribution systems of city railway train, including the pedestrian detection unit held on pavement is arranged；For handling the processing unit of the image of pedestrian detection unit acquisition；Tramcar detection unit above the L of safety zone is set；And the time for controlling intersection traffic lights and the central controller for being communicated with tramcar；The present invention mainly detects pedestrian on the pavement of intersection using machine vision technique, when reaching safety zone L by detection tramcar, whether there is pedestrian on pavement, further improve the accuracy of detection data, if there is pedestrian, guarantee that tramcar there are enough braking distances, to reduce traffic accident probability, in addition the position and speed of real-time detection tramcar, to accurately control the time of traffic lights, it avoids pedestrian and other vehicles from falling into a long wait, further ensures the smoothness of traffic, reduce traffic and congestion phenomenon occur.
Description
Technical field
The present invention relates to a kind of technical field of rail traffic, especially a kind of city railway train preferential right of way distribution system
System.
Background technique
With continuing to bring out for urban track traffic mode, city rail lists intelligence rail train such as and appears in people's lives
In, while mitigating people's trip traffic, certain problem is also brought to road traffic, city rail lists row to intersection
When crossing, other motor vehicles need to be waited for parking, can be passed through after pedestrian passes through,
Processing mode relatively common at present mainly uses first priority right of way, actively preferentially right of way and condition are excellent
First right of way, first priority right of way, which can guarantee that tramcar has arrived intersection and is substantially all, can guarantee and not parking pass through intersection
Mouthful, by driver come control interval speed and dwell time, grasp on schedule, and actively preferential right of way refers to that rail electric car has arrived intersection
A distance repeatedly issues solicited message in advance, gradually to handle, the smaller suburb of the relatively more suitable volume of traffic of above two mode
The section of county's class, not applicable for traffic congestion section, the preferential right of way of condition refers to the request for not only needing to consider tramcar,
Also to comprehensively consider the state of background traffic and the operating condition of track signal, then given by certain condition
The signal priority of rail electric car, this mode of transportation are relatively suitble to domestic communication, but it is difficult to ensure that before tramcar arrival crossing
Guaranteeing that vehicle has emptied in crossing, the signal lamp in other directions is made to become red light, tramcar just will not be flushed to crossing at once,
And enough safe waiting time can be left.
The common laying pattern of tramcar is Exclusive Right of Way in section, but has arrived intersection, by road traffic signal
Control, can generate direct plane with other traffic participants and conflict, data are shown, 80% or more the safety accident of tramcar
All it is the region occurred near intersection, in addition, being positioned as middle freight volume public transport due to tramcar, needs to obtain certain
Signal priority guarantees the speed of service and service level, if the operational efficiency of tramcar is past without effective Collaborative Control
Toward can be restricted by intersection, statistics indicate that, tramcar it is no collaboration or signal priority background under delay rate very
It is high.
Although tramcar has right-of-way, but this is relative priority.Have one at each crossing of streetcar track
A T-type lamp.This lamp is the special signal lamp of tramcar, and when which becomes red, electric car will still be waited for parking.This lamp
When being mainly used for the evening peak phase, when such as other directions, congestion occurs in wagon flow, tramcar will also be waited for parking.There is large-scale activity
Or caused by emergency event when traffic control, which can also be enabled.But crossing is all made of streetcar track and car lane
Mixed mode, if encountering the reasons such as accident or traffic congestion, left turn traffic is queued on streetcar track always, it is possible to
Lead to electric car and the accidents such as motor vehicle collides.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of preferential right of way distribution system of city railway train.
The technical solution of the present invention is as follows: a kind of preferential right of way distribution system of city railway train, comprising:
Pedestrian detection unit, setting are held on pavement, and for detecting pavement direction red light, i.e. tramcar direction is green
When lamp, whether there is pedestrian on pavement；
Processing unit carries out Characteristic Contrast processing by obtaining image in the image and database that pedestrian detection unit acquires
Recognition result is obtained, when determining pavement direction red light, i.e. tramcar direction green light, whether has pedestrian on pavement；
Tramcar detection unit is arranged above the L of safety zone, and for detecting tramcar safety zone L's
Speed and position, the safety zone L are positioned close on the street railway of stop line, pass through tramcar detection unit
Speed and the position for detecting tramcar, determine distance of the tramcar apart from emergency braking region S；
Central controller, for controlling the time of intersection traffic lights, the central controller is by wireless communication
The connection of the Vehicle Controller of module and tramcar, the Vehicle Controller can pass through global positioning system and tramcar
The speed of interior sensor real-time detection tramcar and position, and the position and speed of tramcar is transferred to center in real time
Controller, to accurately control the time of the traffic lights of intersection by the position and speed of tramcar；
The central controller also obtains the recognition result of processing unit by transmission unit and tramcar detects
Speed and position of the tramcar on the L of safety zone of unit detection, determine tramcar apart from emergency braking region S away from
From；
When tramcar enters safety zone L, central controller controls street railway direction green light is lighted, pavement
Direction becomes red light, and detects pavement and street railway by pedestrian detection unit and tramcar detection unit in real time,
If distance of the tramcar apart from emergency braking region S is less than 500m, and when having pedestrian on pavement, central controller then should
Information is transferred to the Vehicle Controller of rail electrical measurement, to take emergency braking to tramcar, if without pedestrian on pavement,
Tramcar whistle signal is controlled, and passes through intersection；
If tramcar does not enter safety zone L also and apart from safety zone L there are also a certain distance, pavement it is red green
The lamp time is allocated according to the normal condition of motor vehicle and pedestrian, when tramcar enters pavement side by pavement
Safety zone L when, the traffic light time on pavement is allocated according to the normal condition of motor vehicle and pedestrian.
Wherein, the pedestrian detection unit includes at least one fish-eye camera.
Wherein, the tramcar detection unit includes at least one laser velocimeter, and laser velocimeter is by having
The headstock of rail electric car emits laser, by the moving distance of tramcar in measurement certain time interval, to be calculated
The speed of rail electric car and position.
Further, infrared sense is additionally provided at the position on the safety zone L apart from emergency braking region S 1000m
Device is answered, to guarantee that tramcar should emergency case.
Further, safety zone L is arranged in close to the side of stop line in the emergency braking region S.
Further, the processing unit is by obtaining the image and database Plays library that pedestrian detection unit acquires
Image recognition compares, and is split first to display foreground and background, then extracts gradient orientation histogram feature vector,
It is sent into trained support vector machine classifier and is identified, first image is split, further according to the spy of pedestrian in image
It levies to carry out categorical filtering, comparison obtains recognition result.
The invention has the benefit that the present invention mainly utilizes machine vision technique on the pavement of intersection to pedestrian
It is detected, when reaching safety zone L by detection tramcar, whether has pedestrian on pavement, further improve detection
The accuracy of data guarantees that tramcar has enough braking distances, so that it is general to reduce traffic accident if there is pedestrian
Rate, in addition the position and speed of real-time detection tramcar avoids pedestrian and other vehicles to accurately control the time of traffic lights
Fall into a long wait, further ensures the smoothness of traffic, traffic is avoided congestion phenomenon occur, using fish-eye camera
Intersection monitor without dead angle on a large scale with independent, is not in the presence of overlapping or partition between the visual field, when target exists
Will not occur vision entanglement when moving in region, advantageously ensure that pavement pedestrian's data are more accurate, to reduce error.
Detailed description of the invention
Fig. 1 is block schematic illustration of the invention；
Fig. 2 is the distribution schematic diagram of road of the present invention, and in figure, A is car lane, and C is street railway；
Fig. 3 is the structural schematic diagram on the present inventor trade；
Fig. 4 is the structural schematic diagram of street railway of the present invention；
In figure, 1- street railway, the pavement 2-, 3- fish-eye camera, 4- laser velocimeter, 5- infrared inductor, 6-
Safety zone L, 7- emergency braking region S.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing:
As shown in Figures 1 to 4, the preferential right of way distribution system of a kind of city railway train, comprising:
Pedestrian detection unit, including at least one fish-eye camera 3, the fish-eye camera 3 are arranged on pavement 2
End, 2 image of pavement when for acquiring 2 direction red light of pavement, i.e. 1 direction green light of street railway in real time；
Processing unit carries out Characteristic Contrast by obtaining image in the image and database that pedestrian detection unit acquires, obtains
To recognition result, when finally determining 2 direction red light of pavement, i.e. 1 direction green light of street railway, whether there is row on pavement 2
People, the specific process is as follows: being carried out by the image and database Plays library image recognition for obtaining pedestrian detection unit acquisition
Comparison, is first split display foreground and background, then extracts gradient orientation histogram feature vector, is sent into trained
It is identified in support vector machine classifier, first image is split, classified further according to the feature of pedestrian in image
Filtering, comparison obtain recognition result；
Tramcar detection unit, including at least one laser velocimeter 4 are arranged above the L6 of safety zone, and are used for
Speed and position of the tramcar in safety zone L6 are detected, the safety zone L6 is positioned close to the rail electricity of stop line
On lane 1, laser velocimeter 4 passes through rail electricity in measurement certain time interval by emitting laser to the headstock of tramcar
The moving distance of vehicle detects rail electricity by tramcar detection unit so that speed and the position of tramcar be calculated
The speed of vehicle and position determine distance of the tramcar apart from emergency braking region S7；
Central controller, for controlling the time of intersection traffic lights, the central controller is by wireless communication
The connection of the Vehicle Controller of module and tramcar, the Vehicle Controller can pass through global positioning system and tramcar
The speed of interior sensor real-time detection tramcar and position, and the position and speed of tramcar is transferred to center in real time
Controller, to accurately control the time of the traffic lights of intersection by the position and speed of tramcar；
The central controller also obtains the recognition result of processing unit by transmission unit and tramcar detects
Speed and position of the tramcar of unit detection on the L6 of safety zone, determine tramcar apart from emergency braking region S7's
Distance；
When tramcar enters safety zone L6,1 direction green light of central controller controls street railway is lighted, people's row
2 direction of road becomes red light, and detects pavement 2 and tramcar by pedestrian detection unit and tramcar detection unit in real time
Road 1, if distance of the tramcar apart from emergency braking region S7 is less than 500m, and when having pedestrian on pavement 2, central controller
The Vehicle Controller of rail electrical measurement is then transmitted this information to, so that emergency braking is taken to tramcar, if nothing on pavement 2
Pedestrian then controls tramcar whistle signal, and passes through intersection；
If tramcar does not enter safety zone L6 also and apart from safety zone L6 there are also a certain distance, pavement 2
Traffic light time is allocated according to the normal condition of motor vehicle and pedestrian, when tramcar enters pavement 2 by pavement 2
When the safety zone L6 of side, the traffic light time on pavement 2 is allocated according to the normal condition of motor vehicle and pedestrian.
It is additionally provided with infrared inductor 5 at position on the safety zone L6 apart from emergency braking region S7 1000m,
To guarantee that tramcar copes with emergency case.
Safety zone L6 is arranged in close to the side of stop line in the emergency braking region S7.
Control process specifically:
S1), the Vehicle Controller of tramcar leads to by the speed of tramcar and position Real-time Feedback to central controller
Spend the time of central controller controls traffic lights；
S2) if, tramcar exercise direction be green light, i.e., 2 direction of pavement be red light, it is real-time by pedestrian detection unit
Image and real-time Transmission on acquisition pavement 2 are performed corresponding processing to processing unit, and detect list by tramcar
Position and speed of first real-time detection tramcar on the L6 of safety zone, it is final to determine tramcar apart from emergency braking area
The distance of domain S7；
S3) when tramcar enters safety zone L6,1 direction green light of central controller controls street railway is lighted,
2 direction of pavement becomes red light, and detects pavement 2 and rail by pedestrian detection unit and tramcar detection unit in real time
Tramway 1, if distance of the tramcar apart from emergency braking region S7 is less than 500m, and when having pedestrian on pavement 2, center control
Device processed then transmits this information to the Vehicle Controller of rail electrical measurement, so that emergency braking is taken to tramcar, if pavement 2
On without pedestrian, then control tramcar whistle signal, and pass through intersection；
If tramcar does not enter safety zone L6 also and apart from safety zone L6 there are also a certain distance, pavement 2
Traffic light time is allocated according to the normal condition of motor vehicle and pedestrian, when tramcar enters pavement 2 by pavement 2
When the safety zone L6 of side, the traffic light time on pavement 2 is allocated according to the normal condition of motor vehicle and pedestrian.
The above embodiments and description only illustrate the principle of the present invention and most preferred embodiment, is not departing from this
Under the premise of spirit and range, various changes and improvements may be made to the invention, these changes and improvements both fall within requirement and protect
In the scope of the invention of shield.
Claims (7)
1. a kind of preferential right of way distribution system of city railway train characterized by comprising
Pedestrian detection unit, setting is held on pavement, for detecting pavement direction red light, i.e. tramcar direction green light
When, whether there is pedestrian on pavement；
Processing unit handles to obtain by obtaining image progress Characteristic Contrast in the image and database that pedestrian detection unit acquires
Whether recognition result when determining pavement direction red light, i.e. tramcar direction green light, has pedestrian on pavement；
Tramcar detection unit is arranged above the L of safety zone, and for detecting tramcar in the speed of safety zone L
And position, the safety zone L are positioned close on the street railway of stop line, are detected by tramcar detection unit
The speed of tramcar and position determine distance of the tramcar apart from emergency braking region S；
Central controller, for controlling the time of intersection traffic lights, central controller module by wireless communication
It is connect with the Vehicle Controller of tramcar, the Vehicle Controller can be by global positioning system and tramcar
The speed of sensor real-time detection tramcar and position, and the position and speed of tramcar is transferred to central control in real time
Device, to accurately control the time of the traffic lights of intersection by the position and speed of tramcar；
The central controller also obtains the recognition result and tramcar detection unit of processing unit by transmission unit
Speed and position of the tramcar of detection on the L of safety zone, determine distance of the tramcar apart from emergency braking region S；
When tramcar enters safety zone L, central controller controls street railway direction green light is lighted, pavement direction
Become red light, and pavement and street railway are detected by pedestrian detection unit and tramcar detection unit in real time, if having
Distance of the rail electric car apart from emergency braking region S is less than 500m, and when having pedestrian on pavement, central controller is then by the information
It is transferred to the Vehicle Controller of rail electrical measurement, so that emergency braking is taken to tramcar, if controlling on pavement without pedestrian
Tramcar whistle signal, and pass through intersection；
If tramcar does not enter safety zone L also and apart from safety zone there are also a certain distance, when the traffic lights on pavement
Between be allocated according to the normal condition of motor vehicle and pedestrian, when tramcar enters by pavement the peace of pavement side
When region-wide L, the traffic light time on pavement is allocated according to the normal condition of motor vehicle and pedestrian.
2. the preferential right of way distribution system of a kind of city railway train according to claim 1, it is characterised in that: the row
People's detection unit includes at least one fish-eye camera.
3. the preferential right of way distribution system of a kind of city railway train according to claim 1, it is characterised in that: described has
Rail tram detection unit includes at least one laser velocimeter.
4. the preferential right of way distribution system of a kind of city railway train according to claim 1, it is characterised in that: the safety
Infrared inductor is additionally provided at position on the L of region apart from emergency braking region S 1000m.
5. the preferential right of way distribution system of a kind of city railway train according to claim 1, it is characterised in that: described is tight
Safety zone L is arranged in close to the side of stop line in anxious brake area S.
6. the preferential right of way distribution system of a kind of city railway train according to claim 1, it is characterised in that: the place
Reason unit is compared by the image and database Plays library image recognition for obtaining pedestrian detection unit acquisition, first to figure
As foreground and background is split, gradient orientation histogram feature vector is then extracted, is sent into trained support vector machines point
It is identified in class device, first image is split, carry out categorical filtering further according to the feature of pedestrian in image, comparison obtains
Recognition result.
7. the preferential right of way distribution system of a kind of city railway train according to claim 1, which is characterized in that tramcar
It is specific as follows by the control process of intersection:
S1), the Vehicle Controller of tramcar by the speed of tramcar and position Real-time Feedback to central controller, in
Entreat the time of controller control traffic lights；
S2) if, tramcar exercise direction be green light, i.e., pavement direction be red light, acquired in real time by pedestrian detection unit
The image and real-time Transmission on pavement are performed corresponding processing to processing unit, and are examined in real time by tramcar detection unit
Survey position and speed of the tramcar on the L of safety zone, it is final determine tramcar apart from emergency braking region S away from
From；
S3), when tramcar enters safety zone L, central controller controls street railway direction green light is lighted, pavement
Direction becomes red light, and detects pavement and street railway by pedestrian detection unit and tramcar detection unit in real time,
If distance of the tramcar apart from emergency braking region S is less than 500m, and when having pedestrian on pavement, central controller then should
Information is transferred to the Vehicle Controller of rail electrical measurement, to take emergency braking to tramcar, if without pedestrian on pavement,
Tramcar whistle signal is controlled, and passes through intersection；
If tramcar does not enter safety zone L also and apart from safety zone L there are also a certain distance, when the traffic lights on pavement
Between be allocated according to the normal condition of motor vehicle and pedestrian, when tramcar enters by pavement the peace of pavement side
When region-wide L, the traffic light time on pavement is allocated according to the normal condition of motor vehicle and pedestrian.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810990880.XA CN109308801A (en) | 2018-08-28 | 2018-08-28 | A system for assigning priority right of way for urban rail trains |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810990880.XA CN109308801A (en) | 2018-08-28 | 2018-08-28 | A system for assigning priority right of way for urban rail trains |
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| CN201810990880.XA Pending CN109308801A (en) | 2018-08-28 | 2018-08-28 | A system for assigning priority right of way for urban rail trains |
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Cited By (7)
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| CN110335475A (en) * | 2019-06-28 | 2019-10-15 | 东南大学 | A method and system for inductively controlling signal lights at intersections of double-track common rail trams |
| CN110660220A (en) * | 2019-10-08 | 2020-01-07 | 五邑大学 | Urban rail train priority distribution method and system |
| CN110827554A (en) * | 2019-10-22 | 2020-02-21 | 中铁轨道交通装备有限公司 | Tramcar cooperative control method and system based on active driving control |
| CN111123929A (en) * | 2019-12-23 | 2020-05-08 | 天行智控(成都)科技有限公司 | Rail transport partition scheduling system |
| CN111739310A (en) * | 2019-03-25 | 2020-10-02 | 百度（美国）有限责任公司 | Method, system and machine readable medium for dynamically determining traffic right |
| CN112829798A (en) * | 2021-01-20 | 2021-05-25 | 孙中银 | Tramcar crossing barrier detection early warning system and early warning method |
| CN113650658A (en) * | 2021-07-20 | 2021-11-16 | 同济大学 | A Tramway Control System at Level Crossing |
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| CN111739310A (en) * | 2019-03-25 | 2020-10-02 | 百度（美国）有限责任公司 | Method, system and machine readable medium for dynamically determining traffic right |
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| CN110660220A (en) * | 2019-10-08 | 2020-01-07 | 五邑大学 | Urban rail train priority distribution method and system |
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| CN111123929A (en) * | 2019-12-23 | 2020-05-08 | 天行智控(成都)科技有限公司 | Rail transport partition scheduling system |
| CN112829798A (en) * | 2021-01-20 | 2021-05-25 | 孙中银 | Tramcar crossing barrier detection early warning system and early warning method |
| CN113650658A (en) * | 2021-07-20 | 2021-11-16 | 同济大学 | A Tramway Control System at Level Crossing |
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Application publication date: 20190205 |